Swerve Drive encoders not synced

[Ankur-Raghavan]

Our swerve modules encoders are not syncing up to the absolute encoders. I believe this is because the relative encoders are getting reset while the motors are spinning

We have SDS mk4i modules and using the stock code.

Does anyone know how to make it not reset the relative encoders or to force it to reset?

[chadr03]

Can you share a link of your code? You will have a much higher likelihood of solving your issue.

[Ankur-Raghavan]

Here is our current code:

GitHub - FRC2869/2023Public

[chadr03]

I have never tried to use the SDS libraries, but it is my understanding they have not been maintained in a few years and it causes issues with the newer versions of WPILib and such.

I think the common recommendation is to either use the WPILib examples
allwpilib/wpilibjExamples/src/main/java/edu/wpi/first/wpilibj/examples/swervecontrollercommand at main · wpilibsuite/allwpilib (github.com)

Use 364 template.

Official SDS MK3 & MK4 Code

This is the most often sighted reference example for what you are asking - https://github.com/Team364/BaseFalconSwerve 3847’s swerve code is based off this 364 repo.

Or try YAGSL

Yet Another Generic Swerve Library (YAGSL) Beta

Hello World! YAGSL is a Generic Swerve Library (AN ACTUAL LIBRARY!) that aims to simplify the process of creating a comprehensive and complete SwerveDrive’s with best practices from MANY SwerveDrive examples. The documentation wiki is here. An example project is here. Library is here. Javadoc are here. Features: Second Order Kinematics with limited state-space estimation. Uses closed-loop PID exclusively. Dashboard for each swerve module. Support for both Falcon’s and Neo’s without chang…